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source: ntrip/trunk/BNC/src/upload/bncrtnetuploadcaster.cpp@ 9843

Last change on this file since 9843 was 9843, checked in by stuerze, 19 months ago
restore RTNET buffer reading code
File size: 41.1 KB

Line
1	/* -------------------------------------------------------------------------
2	* BKG NTRIP Server
3	* -------------------------------------------------------------------------
4	*
5	* Class: bncRtnetUploadCaster
6	*
7	* Purpose: Connection to NTRIP Caster
8	*
9	* Author: L. Mervart
10	*
11	* Created: 29-Mar-2011
12	*
13	* Changes:
14	*
15	* -----------------------------------------------------------------------*/
16
17	#include <math.h>
18	#include "bncrtnetuploadcaster.h"
19	#include "bncsettings.h"
20	#include "bncephuser.h"
21	#include "bncclockrinex.h"
22	#include "bncbiassinex.h"
23	#include "bncsp3.h"
24	#include "gnss.h"
25	#include "bncutils.h"
26
27	using namespace std;
28
29	// Constructor
30	////////////////////////////////////////////////////////////////////////////
31	bncRtnetUploadCaster::bncRtnetUploadCaster(const QString& mountpoint,
32	const QString& outHost, int outPort,
33	const QString& ntripVersion,
34	const QString& userName, const QString& password,
35	const QString& crdTrafo, const QString& ssrFormat, bool CoM, const QString& sp3FileName,
36	const QString& rnxFileName, const QString& bsxFileName, int PID, int SID, int IOD, int iRow) :
37	bncUploadCaster(mountpoint, outHost, outPort, ntripVersion, userName, password, iRow, 0) {
38
39	if (!mountpoint.isEmpty()) {
40	_casterID += mountpoint;
41	}
42	if (!outHost.isEmpty()) {
43	_casterID += " " + outHost;
44	if (outPort) {
45	_casterID += ":" + QString("%1").arg(outPort, 10);
46	}
47	}
48	if (!crdTrafo.isEmpty()) {
49	_casterID += " " + crdTrafo;
50	}
51	if (!sp3FileName.isEmpty()) {
52	_casterID += " " + sp3FileName;
53	}
54	if (!rnxFileName.isEmpty()) {
55	_casterID += " " + rnxFileName;
56	}
57
58	if (!bsxFileName.isEmpty()) {
59	_casterID += " " + bsxFileName;
60	}
61
62	_crdTrafo = crdTrafo;
63
64	_ssrFormat = ssrFormat;
65
66	_ssrCorr = 0;
67	if (_ssrFormat == "IGS-SSR") {
68	_ssrCorr = new SsrCorrIgs();
69	}
70	else if (_ssrFormat == "RTCM-SSR") {
71	_ssrCorr = new SsrCorrRtcm();
72	}
73
74	_CoM = CoM;
75	_PID = PID;
76	_SID = SID;
77	_IOD = IOD;
78
79	// Member that receives the ephemeris
80	// ----------------------------------
81	_ephUser = new bncEphUser(true);
82
83	bncSettings settings;
84	QString intr = settings.value("uploadIntr").toString();
85	QStringList hlp = settings.value("cmbStreams").toStringList();
86	_samplRtcmEphCorr = settings.value("uploadSamplRtcmEphCorr").toDouble();
87	if (hlp.size() > 1) { // combination stream upload
88	_samplRtcmClkCorr = settings.value("cmbSampl").toInt();
89	}
90	else { // single stream upload or sp3 file generation
91	_samplRtcmClkCorr = 5; // default
92	}
93	int samplClkRnx = settings.value("uploadSamplClkRnx").toInt();
94	int samplSp3 = settings.value("uploadSamplSp3").toInt() * 60;
95	int samplBiaSnx = settings.value("uploadSamplBiaSnx").toInt();
96
97	if (_samplRtcmEphCorr == 0.0) {
98	_usedEph = 0;
99	}
100	else {
101	_usedEph = new QMap<QString, const t_eph*>;
102	}
103
104	// RINEX writer
105	// ------------
106	if (!rnxFileName.isEmpty()) {
107	_rnx = new bncClockRinex(rnxFileName, intr, samplClkRnx);
108	}
109	else {
110	_rnx = 0;
111	}
112
113	// SP3 writer
114	// ----------
115	if (!sp3FileName.isEmpty()) {
116	_sp3 = new bncSP3(sp3FileName, intr, samplSp3);
117	}
118	else {
119	_sp3 = 0;
120	}
121
122	// SINEX writer
123	// ------------
124	if (!bsxFileName.isEmpty()) {
125	_bsx = new bncBiasSinex(bsxFileName, intr, samplBiaSnx);
126	}
127	else {
128	_bsx = 0;
129	}
130
131
132	// Set Transformation Parameters
133	// -----------------------------
134	// Transformation Parameters from ITRF2014 to ETRF2000
135	// EUREF Technical Note 1 Relationship and Transformation between the ITRF and ETRF
136	// Zuheir Altamimi, June 28, 2018
137	if (_crdTrafo == "ETRF2000") {
138	_dx = 0.0547;
139	_dy = 0.0522;
140	_dz = -0.0741;
141
142	_dxr = 0.0001;
143	_dyr = 0.0001;
144	_dzr = -0.0019;
145
146	_ox = 0.001701;
147	_oy = 0.010290;
148	_oz = -0.016632;
149
150	_oxr = 0.000081;
151	_oyr = 0.000490;
152	_ozr = -0.000729;
153
154	_sc = 2.12;
155	_scr = 0.11;
156
157	_t0 = 2010.0;
158	}
159	// Transformation Parameters from ITRF2014 to GDA2020 (Ryan Ruddick, GA)
160	else if (_crdTrafo == "GDA2020") {
161	_dx = 0.0;
162	_dy = 0.0;
163	_dz = 0.0;
164
165	_dxr = 0.0;
166	_dyr = 0.0;
167	_dzr = 0.0;
168
169	_ox = 0.0;
170	_oy = 0.0;
171	_oz = 0.0;
172
173	_oxr = 0.00150379;
174	_oyr = 0.00118346;
175	_ozr = 0.00120716;
176
177	_sc = 0.0;
178	_scr = 0.0;
179
180	_t0 = 2020.0;
181	}
182	// Transformation Parameters from IGb14 to SIRGAS2000 (Thanks to Sonia Costa, BRA)
183	// June 29 2020: TX:-0.0027 m TY:-0.0025 m TZ:-0.0042 m SCL:1.20 (ppb) no rotations and no rates.*/
184	else if (_crdTrafo == "SIRGAS2000") {
185	_dx = -0.0027;
186	_dy = -0.0025;
187	_dz = -0.0042;
188
189	_dxr = 0.0000;
190	_dyr = 0.0000;
191	_dzr = 0.0000;
192
193	_ox = 0.000000;
194	_oy = 0.000000;
195	_oz = 0.000000;
196
197	_oxr = 0.000000;
198	_oyr = 0.000000;
199	_ozr = 0.000000;
200
201	_sc = 1.20000;
202	_scr = 0.00000;
203	_t0 = 2000.0;
204	}
205	// Transformation Parameters from ITRF2014 to DREF91
206	else if (_crdTrafo == "DREF91") {
207	_dx = 0.0547;
208	_dy = 0.0522;
209	_dz = -0.0741;
210
211	_dxr = 0.0001;
212	_dyr = 0.0001;
213	_dzr = -0.0019;
214	// ERTF200 + rotation parameters (ETRF200 => DREF91)
215	_ox = 0.001701 + 0.000658;
216	_oy = 0.010290 - 0.000208;
217	_oz = -0.016632 + 0.000755;
218
219	_oxr = 0.000081;
220	_oyr = 0.000490;
221	_ozr = -0.000729;
222
223	_sc = 2.12;
224	_scr = 0.11;
225
226	_t0 = 2010.0;
227	}
228	else if (_crdTrafo == "Custom") {
229	_dx = settings.value("trafo_dx").toDouble();
230	_dy = settings.value("trafo_dy").toDouble();
231	_dz = settings.value("trafo_dz").toDouble();
232	_dxr = settings.value("trafo_dxr").toDouble();
233	_dyr = settings.value("trafo_dyr").toDouble();
234	_dzr = settings.value("trafo_dzr").toDouble();
235	_ox = settings.value("trafo_ox").toDouble();
236	_oy = settings.value("trafo_oy").toDouble();
237	_oz = settings.value("trafo_oz").toDouble();
238	_oxr = settings.value("trafo_oxr").toDouble();
239	_oyr = settings.value("trafo_oyr").toDouble();
240	_ozr = settings.value("trafo_ozr").toDouble();
241	_sc = settings.value("trafo_sc").toDouble();
242	_scr = settings.value("trafo_scr").toDouble();
243	_t0 = settings.value("trafo_t0").toDouble();
244	}
245	}
246
247	// Destructor
248	////////////////////////////////////////////////////////////////////////////
249	bncRtnetUploadCaster::~bncRtnetUploadCaster() {
250	if (isRunning()) {
251	wait();
252	}
253	delete _rnx;
254	delete _sp3;
255	delete _ephUser;
256	delete _usedEph;
257	delete _ssrCorr;
258	}
259
260	//
261	////////////////////////////////////////////////////////////////////////////
262	void bncRtnetUploadCaster::decodeRtnetStream(char* buffer, int bufLen) {
263
264	QMutexLocker locker(&_mutex);
265
266	// Append to internal buffer
267	// -------------------------
268	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
269
270	// Select buffer part that contains last epoch
271	// -------------------------------------------
272	QStringList lines;
273	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
274	if (iEpoBeg == -1) {
275	_rtnetStreamBuffer.clear();
276	emit(newMessage(
277	"bncRtnetUploadCaster: no Epoch line found " + _casterID.toLatin1(), false));
278	return;
279	}
280	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
281
282	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
283	if (iEpoEnd == -1) {
284	emit(newMessage(
285	"bncRtnetUploadCaster: no EOE found " + _casterID.toLatin1(), false));
286	return;
287	}
288	else {
289	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
290	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd+3);
291	}
292
293	if (lines.size() < 2) {
294	emit(newMessage(
295	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
296	return;
297	}
298
299	// Keep the last unfinished line in buffer
300	// ---------------------------------------
301	int iLastEOL = _rtnetStreamBuffer.lastIndexOf('\n');
302	if (iLastEOL != -1) {
303	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iLastEOL+1);
304	emit(newMessage(
305	"bncRtnetUploadCaster: keep the last unfinished line in buffer " + _casterID.toLatin1(), false));
306	}
307
308
309	/* Append to internal buffer
310	// -------------------------
311	_rtnetStreamBuffer.append(QByteArray(buffer, bufLen));
312
313	// Select buffer part that contains last epoch
314	// -------------------------------------------
315	QStringList lines;
316	int iEpoBeg = _rtnetStreamBuffer.lastIndexOf('*'); // begin of last epoch
317	if (iEpoBeg == -1) {
318	_rtnetStreamBuffer.clear();
319	emit(newMessage(
320	"bncRtnetUploadCaster: no Epoch line found " + _casterID.toLatin1(), false));
321	return;
322	}
323
324	int iEpoBegEarlier = _rtnetStreamBuffer.indexOf('*');
325	if (iEpoBegEarlier != -1 && iEpoBegEarlier < iEpoBeg) { // are there two epoch lines in buffer?
326	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBegEarlier);
327	}
328	else {
329	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoBeg);
330	}
331
332	int iEpoEnd = _rtnetStreamBuffer.lastIndexOf("EOE"); // end of last epoch
333	if (iEpoEnd == -1) {
334	_rtnetStreamBuffer.clear();
335	emit(newMessage(
336	"bncRtnetUploadCaster: no EOE found " + _casterID.toLatin1(), false));
337	return;
338	}
339
340	while (_rtnetStreamBuffer.count('*') > 1) { // is there more than 1 epoch line in buffer?
341	QString rtnetStreamBuffer = _rtnetStreamBuffer.mid(1);
342	int nextEpoch = rtnetStreamBuffer.indexOf('*');
343	if (nextEpoch != -1 && nextEpoch < iEpoEnd) {
344	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(nextEpoch);
345	}
346	else if (nextEpoch != -1 && nextEpoch >= iEpoEnd) {
347	break;
348	}
349	}
350
351	lines = _rtnetStreamBuffer.left(iEpoEnd).split('\n', QString::SkipEmptyParts);
352
353	_rtnetStreamBuffer = _rtnetStreamBuffer.mid(iEpoEnd + 3);
354
355	if (lines.size() < 2) {
356	emit(newMessage(
357	"bncRtnetUploadCaster: less than 2 lines to decode " + _casterID.toLatin1(), false));
358	return;
359	}
360	*/
361	// Read first line (with epoch time)
362	// ---------------------------------
363	QTextStream in(lines[0].toLatin1());
364	QString hlp;
365	int year, month, day, hour, min;
366	double sec;
367	in >> hlp >> year >> month >> day >> hour >> min >> sec;
368	bncTime epoTime;
369	epoTime.set(year, month, day, hour, min, sec);
370
371	emit(newMessage(
372	"bncRtnetUploadCaster: decode " + QByteArray(epoTime.datestr().c_str())
373	+ " " + QByteArray(epoTime.timestr().c_str()) + " "
374	+ _casterID.toLatin1(), false));
375
376	struct SsrCorr::ClockOrbit co;
377	memset(&co, 0, sizeof(co));
378	co.EpochTime[CLOCKORBIT_SATGPS] = static_cast<int>(epoTime.gpssec());
379	if (_ssrFormat == "RTCM-SSR") {
380	double gt = epoTime.gpssec() + 3 * 3600 - gnumleap(year, month, day);
381	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(fmod(gt, 86400.0));
382	}
383	else if (_ssrFormat == "IGS-SSR") {
384	co.EpochTime[CLOCKORBIT_SATGLONASS] = static_cast<int>(epoTime.gpssec());
385	}
386	co.EpochTime[CLOCKORBIT_SATGALILEO] = static_cast<int>(epoTime.gpssec());
387	co.EpochTime[CLOCKORBIT_SATQZSS] = static_cast<int>(epoTime.gpssec());
388	co.EpochTime[CLOCKORBIT_SATSBAS] = static_cast<int>(epoTime.gpssec());
389	if (_ssrFormat == "RTCM-SSR") {
390	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.bdssec());
391	}
392	else if (_ssrFormat == "IGS-SSR") {
393	co.EpochTime[CLOCKORBIT_SATBDS] = static_cast<int>(epoTime.gpssec());
394	}
395	co.Supplied[_ssrCorr->COBOFS_CLOCK] = 1;
396	co.Supplied[_ssrCorr->COBOFS_ORBIT] = 1;
397	co.SatRefDatum = _ssrCorr->DATUM_ITRF; // ToDo: to decode from RTNET format
398	co.SSRIOD = _IOD;
399	co.SSRProviderID = _PID; // 256 .. BKG, 257 ... EUREF
400	co.SSRSolutionID = _SID;
401
402	struct SsrCorr::CodeBias bias;
403	memset(&bias, 0, sizeof(bias));
404	bias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
405	bias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
406	bias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
407	bias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
408	bias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
409	bias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
410	bias.SSRIOD = _IOD;
411	bias.SSRProviderID = _PID;
412	bias.SSRSolutionID = _SID;
413
414	struct SsrCorr::PhaseBias phasebias;
415	memset(&phasebias, 0, sizeof(phasebias));
416	unsigned int dispersiveBiasConsistenyIndicator = 0;
417	unsigned int mwConsistencyIndicator = 0;
418	phasebias.EpochTime[CLOCKORBIT_SATGPS] = co.EpochTime[CLOCKORBIT_SATGPS];
419	phasebias.EpochTime[CLOCKORBIT_SATGLONASS] = co.EpochTime[CLOCKORBIT_SATGLONASS];
420	phasebias.EpochTime[CLOCKORBIT_SATGALILEO] = co.EpochTime[CLOCKORBIT_SATGALILEO];
421	phasebias.EpochTime[CLOCKORBIT_SATQZSS] = co.EpochTime[CLOCKORBIT_SATQZSS];
422	phasebias.EpochTime[CLOCKORBIT_SATSBAS] = co.EpochTime[CLOCKORBIT_SATSBAS];
423	phasebias.EpochTime[CLOCKORBIT_SATBDS] = co.EpochTime[CLOCKORBIT_SATBDS];
424	phasebias.SSRIOD = _IOD;
425	phasebias.SSRProviderID = _PID;
426	phasebias.SSRSolutionID = _SID;
427
428	struct SsrCorr::VTEC vtec;
429	memset(&vtec, 0, sizeof(vtec));
430	vtec.EpochTime = static_cast<int>(epoTime.gpssec());
431	vtec.SSRIOD = _IOD;
432	vtec.SSRProviderID = _PID;
433	vtec.SSRSolutionID = _SID;
434
435	// Default Update Interval
436	// -----------------------
437	int clkUpdInd = 2; // 5 sec
438	int ephUpdInd = clkUpdInd; // default
439
440	if (!_samplRtcmEphCorr) {
441	_samplRtcmEphCorr = 5.0;
442	}
443
444	if (_samplRtcmClkCorr > 5.0 && _samplRtcmEphCorr <= 5.0) { // combined orb and clock
445	ephUpdInd = determineUpdateInd(_samplRtcmClkCorr);
446	}
447	if (_samplRtcmClkCorr > 5.0) {
448	clkUpdInd = determineUpdateInd(_samplRtcmClkCorr);
449	}
450	if (_samplRtcmEphCorr > 5.0) {
451	ephUpdInd = determineUpdateInd(_samplRtcmEphCorr);
452	}
453
454	co.UpdateInterval = clkUpdInd;
455	bias.UpdateInterval = ephUpdInd;
456	phasebias.UpdateInterval = ephUpdInd;
457
458	for (int ii = 1; ii < lines.size(); ii++) {
459	QString key; // prn or key VTEC, IND (phase bias indicators)
460	double rtnUra = 0.0; // [m]
461	ColumnVector rtnAPC; rtnAPC.ReSize(3); rtnAPC = 0.0; // [m, m, m]
462	ColumnVector rtnVel; rtnVel.ReSize(3); rtnVel = 0.0; // [m/s, m/s, m/s]
463	ColumnVector rtnCoM; rtnCoM.ReSize(3); rtnCoM = 0.0; // [m, m, m]
464	ColumnVector rtnClk; rtnClk.ReSize(3); rtnClk = 0.0; // [m, m/s, m/s²]
465	ColumnVector rtnClkSig; rtnClkSig.ReSize(3); rtnClkSig = 0.0; // [m, m/s, m/s²]
466	t_prn prn;
467
468	QTextStream in(lines[ii].toLatin1());
469
470	in >> key;
471
472	// non-satellite specific parameters
473	if (key.contains("IND", Qt::CaseSensitive)) {
474	in >> dispersiveBiasConsistenyIndicator >> mwConsistencyIndicator;
475	continue;
476	}
477	// non-satellite specific parameters
478	if (key.contains("VTEC", Qt::CaseSensitive)) {
479	double ui;
480	in >> ui >> vtec.NumLayers;
481	vtec.UpdateInterval = (unsigned int) determineUpdateInd(ui);
482	for (unsigned ll = 0; ll < vtec.NumLayers; ll++) {
483	int dummy;
484	in >> dummy >> vtec.Layers[ll].Degree >> vtec.Layers[ll].Order
485	>> vtec.Layers[ll].Height;
486	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
487	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
488	in >> vtec.Layers[ll].Cosinus[iDeg][iOrd];
489	}
490	}
491	for (unsigned iDeg = 0; iDeg <= vtec.Layers[ll].Degree; iDeg++) {
492	for (unsigned iOrd = 0; iOrd <= vtec.Layers[ll].Order; iOrd++) {
493	in >> vtec.Layers[ll].Sinus[iDeg][iOrd];
494	}
495	}
496	}
497	continue;
498	}
499	// satellite specific parameters
500	char sys = key.mid(0, 1).at(0).toLatin1();
501	int number = key.mid(1, 2).toInt();
502	int flags = 0;
503	if (sys == 'E') { // I/NAV
504	flags = 1;
505	}
506	if (number == 0) {
507	continue;
508	}
509	prn.set(sys, number, flags);
510	QString prnInternalStr = QString::fromStdString(prn.toInternalString());
511	QString prnStr = QString::fromStdString(prn.toString());
512
513	const t_eph* ephLast = _ephUser->ephLast(prnInternalStr);
514	const t_eph* ephPrev = _ephUser->ephPrev(prnInternalStr);
515	const t_eph* eph = ephLast;
516	if (eph) {
517
518	// Use previous ephemeris if the last one is too recent
519	// ----------------------------------------------------
520	const int MINAGE = 60; // seconds
521	if (ephPrev && eph->receptDateTime().isValid()
522	&& eph->receptDateTime().secsTo(currentDateAndTimeGPS()) < MINAGE) {
523	eph = ephPrev;
524	}
525
526	// Make sure the clock messages refer to same IOD as orbit messages
527	// ----------------------------------------------------------------
528	if (_usedEph) {
529	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
530	(*_usedEph)[prnInternalStr] = eph;
531	}
532	else {
533	eph = 0;
534	if (_usedEph->contains(prnInternalStr)) {
535	const t_eph* usedEph = _usedEph->value(prnInternalStr);
536	if (usedEph == ephLast) {
537	eph = ephLast;
538	}
539	else if (usedEph == ephPrev) {
540	eph = ephPrev;
541	}
542	}
543	}
544	}
545	}
546
547	if (eph &&
548	!outDatedBcep(eph) && // detected from storage because of no update
549	eph->checkState() != t_eph::bad &&
550	eph->checkState() != t_eph::unhealthy &&
551	eph->checkState() != t_eph::outdated) { // detected during reception (bncephuser)
552	QMap<QString, double> codeBiases;
553	QList<phaseBiasSignal> phaseBiasList;
554	phaseBiasesSat pbSat;
555	_phaseBiasInformationDecoded = false;
556
557	while (true) {
558	QString key;
559	int numVal = 0;
560	in >> key;
561	if (in.status() != QTextStream::Ok) {
562	break;
563	}
564	if (key == "APC") {
565	in >> numVal;
566	rtnAPC.ReSize(3); rtnAPC = 0.0;
567	for (int ii = 0; ii < numVal; ii++) {
568	in >> rtnAPC[ii];
569	}
570	}
571	else if (key == "Ura") {
572	in >> numVal;
573	if (numVal == 1)
574	in >> rtnUra;
575	}
576	else if (key == "Clk") {
577	in >> numVal;
578	rtnClk.ReSize(3); rtnClk = 0.0;
579	for (int ii = 0; ii < numVal; ii++) {
580	in >> rtnClk[ii];
581	}
582	}
583	else if (key == "ClkSig") {
584	in >> numVal;
585	rtnClkSig.ReSize(3); rtnClkSig = 0.0;
586	for (int ii = 0; ii < numVal; ii++) {
587	in >> rtnClkSig[ii];
588	}
589	}
590	else if (key == "Vel") {
591	in >> numVal;
592	rtnVel.ReSize(3); rtnVel = 0.0;
593	for (int ii = 0; ii < numVal; ii++) {
594	in >> rtnVel[ii];
595	}
596	}
597	else if (key == "CoM") {
598	in >> numVal;
599	rtnCoM.ReSize(3); rtnCoM = 0.0;
600	for (int ii = 0; ii < numVal; ii++) {
601	in >> rtnCoM[ii];
602	}
603	}
604	else if (key == "CodeBias") {
605	in >> numVal;
606	for (int ii = 0; ii < numVal; ii++) {
607	QString type;
608	double value;
609	in >> type >> value;
610	codeBiases[type] = value;
611	}
612	}
613	else if (key == "YawAngle") {
614	_phaseBiasInformationDecoded = true;
615	in >> numVal >> pbSat.yawAngle;
616	if (pbSat.yawAngle < 0.0) {
617	pbSat.yawAngle += (2*M_PI);
618	}
619	else if (pbSat.yawAngle > 2*M_PI) {
620	pbSat.yawAngle -= (2*M_PI);
621	}
622	}
623	else if (key == "YawRate") {
624	_phaseBiasInformationDecoded = true;
625	in >> numVal >> pbSat.yawRate;
626	}
627	else if (key == "PhaseBias") {
628	_phaseBiasInformationDecoded = true;
629	in >> numVal;
630	for (int ii = 0; ii < numVal; ii++) {
631	phaseBiasSignal pb;
632	in >> pb.type >> pb.bias >> pb.integerIndicator
633	>> pb.wlIndicator >> pb.discontinuityCounter;
634	phaseBiasList.append(pb);
635	}
636	}
637	else {
638	in >> numVal;
639	for (int ii = 0; ii < numVal; ii++) {
640	double dummy;
641	in >> dummy;
642	}
643	emit(newMessage(" RTNET format error: "
644	+ lines[ii].toLatin1(), false));
645	break;
646	}
647	}
648
649	struct SsrCorr::ClockOrbit::SatData* sd = 0;
650	if (prn.system() == 'G') {
651	sd = co.Sat + co.NumberOfSat[CLOCKORBIT_SATGPS];
652	++co.NumberOfSat[CLOCKORBIT_SATGPS];
653	}
654	else if (prn.system() == 'R') {
655	sd = co.Sat + CLOCKORBIT_NUMGPS + co.NumberOfSat[CLOCKORBIT_SATGLONASS];
656	++co.NumberOfSat[CLOCKORBIT_SATGLONASS];
657	}
658	else if (prn.system() == 'E') {
659	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
660	+ co.NumberOfSat[CLOCKORBIT_SATGALILEO];
661	++co.NumberOfSat[CLOCKORBIT_SATGALILEO];
662	}
663	else if (prn.system() == 'J') {
664	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
665	+ CLOCKORBIT_NUMGALILEO
666	+ co.NumberOfSat[CLOCKORBIT_SATQZSS];
667	++co.NumberOfSat[CLOCKORBIT_SATQZSS];
668	}
669	else if (prn.system() == 'S') {
670	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
671	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
672	+ co.NumberOfSat[CLOCKORBIT_SATSBAS];
673	++co.NumberOfSat[CLOCKORBIT_SATSBAS];
674	}
675	else if (prn.system() == 'C') {
676	sd = co.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
677	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
678	+ CLOCKORBIT_NUMSBAS
679	+ co.NumberOfSat[CLOCKORBIT_SATBDS];
680	++co.NumberOfSat[CLOCKORBIT_SATBDS];
681	}
682	if (sd) {
683	QString outLine;
684	t_irc irc = processSatellite(eph, epoTime.gpsw(), epoTime.gpssec(), prnStr, rtnAPC,
685	rtnUra, rtnClk, rtnVel, rtnCoM, rtnClkSig, sd, outLine);
686	if (irc != success) {
687	continue;
688	}
689	}
690
691	// Code Biases
692	// -----------
693	struct SsrCorr::CodeBias::BiasSat* biasSat = 0;
694	if (!codeBiases.isEmpty()) {
695	if (prn.system() == 'G') {
696	biasSat = bias.Sat + bias.NumberOfSat[CLOCKORBIT_SATGPS];
697	++bias.NumberOfSat[CLOCKORBIT_SATGPS];
698	}
699	else if (prn.system() == 'R') {
700	biasSat = bias.Sat + CLOCKORBIT_NUMGPS
701	+ bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
702	++bias.NumberOfSat[CLOCKORBIT_SATGLONASS];
703	}
704	else if (prn.system() == 'E') {
705	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
706	+ bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
707	++bias.NumberOfSat[CLOCKORBIT_SATGALILEO];
708	}
709	else if (prn.system() == 'J') {
710	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
711	+ CLOCKORBIT_NUMGALILEO
712	+ bias.NumberOfSat[CLOCKORBIT_SATQZSS];
713	++bias.NumberOfSat[CLOCKORBIT_SATQZSS];
714	}
715	else if (prn.system() == 'S') {
716	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
717	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
718	+ bias.NumberOfSat[CLOCKORBIT_SATSBAS];
719	++bias.NumberOfSat[CLOCKORBIT_SATSBAS];
720	}
721	else if (prn.system() == 'C') {
722	biasSat = bias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
723	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
724	+ CLOCKORBIT_NUMSBAS
725	+ bias.NumberOfSat[CLOCKORBIT_SATBDS];
726	++bias.NumberOfSat[CLOCKORBIT_SATBDS];
727	}
728	}
729
730	if (biasSat) {
731	biasSat->ID = prn.number();
732	biasSat->NumberOfCodeBiases = 0;
733	QMapIterator<QString, double> it(codeBiases);
734	while (it.hasNext()) {
735	it.next();
736	int ii = biasSat->NumberOfCodeBiases;
737	if (ii >= CLOCKORBIT_NUMBIAS)
738	break;
739	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), it.key().toStdString());
740	if (type != _ssrCorr->RESERVED) {
741	biasSat->NumberOfCodeBiases += 1;
742	biasSat->Biases[ii].Type = type;
743	biasSat->Biases[ii].Bias = it.value();
744	if (_bsx) {
745	QString obsCode = 'C' + it.key();
746	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, it.value());
747	}
748	}
749	}
750	}
751
752	// Phase Biases
753	// ------------
754	struct SsrCorr::PhaseBias::PhaseBiasSat* phasebiasSat = 0;
755	if (prn.system() == 'G') {
756	phasebiasSat = phasebias.Sat
757	+ phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
758	++phasebias.NumberOfSat[CLOCKORBIT_SATGPS];
759	}
760	else if (prn.system() == 'R') {
761	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS
762	+ phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
763	++phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS];
764	}
765	else if (prn.system() == 'E') {
766	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
767	+ phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
768	++phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO];
769	}
770	else if (prn.system() == 'J') {
771	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
772	+ CLOCKORBIT_NUMGALILEO
773	+ phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
774	++phasebias.NumberOfSat[CLOCKORBIT_SATQZSS];
775	}
776	else if (prn.system() == 'S') {
777	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
778	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
779	+ phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
780	++phasebias.NumberOfSat[CLOCKORBIT_SATSBAS];
781	}
782	else if (prn.system() == 'C') {
783	phasebiasSat = phasebias.Sat + CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
784	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
785	+ CLOCKORBIT_NUMSBAS
786	+ phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
787	++phasebias.NumberOfSat[CLOCKORBIT_SATBDS];
788	}
789
790	if (phasebiasSat && _phaseBiasInformationDecoded) {
791	phasebias.DispersiveBiasConsistencyIndicator = dispersiveBiasConsistenyIndicator;
792	phasebias.MWConsistencyIndicator = mwConsistencyIndicator;
793	phasebiasSat->ID = prn.number();
794	phasebiasSat->NumberOfPhaseBiases = 0;
795	phasebiasSat->YawAngle = pbSat.yawAngle;
796	phasebiasSat->YawRate = pbSat.yawRate;
797	QListIterator<phaseBiasSignal> it(phaseBiasList);
798	while (it.hasNext()) {
799	const phaseBiasSignal &pbSig = it.next();
800	int ii = phasebiasSat->NumberOfPhaseBiases;
801	if (ii >= CLOCKORBIT_NUMBIAS)
802	break;
803	SsrCorr::CodeType type = _ssrCorr->rnxTypeToCodeType(prn.system(), pbSig.type.toStdString());
804	if (type != _ssrCorr->RESERVED) {
805	phasebiasSat->NumberOfPhaseBiases += 1;
806	phasebiasSat->Biases[ii].Type = type;
807	phasebiasSat->Biases[ii].Bias = pbSig.bias;
808	phasebiasSat->Biases[ii].SignalIntegerIndicator = pbSig.integerIndicator;
809	phasebiasSat->Biases[ii].SignalsWideLaneIntegerIndicator = pbSig.wlIndicator;
810	phasebiasSat->Biases[ii].SignalDiscontinuityCounter = pbSig.discontinuityCounter;
811	if (_bsx) {
812	QString obsCode = 'L' + pbSig.type;
813	_bsx->write(epoTime.gpsw(), epoTime.gpssec(), prnStr, obsCode, pbSig.bias);
814	}
815	}
816	}
817	}
818	}
819	}
820
821	QByteArray hlpBufferCo;
822
823	// Orbit and Clock Corrections together
824	// ------------------------------------
825	if (_samplRtcmEphCorr == _samplRtcmClkCorr) {
826	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0
827	\|\| co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
828	\|\| co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
829	\|\| co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
830	\|\| co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
831	\|\| co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
832	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
833	int len = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_AUTO, 0, obuffer, sizeof(obuffer));
834	if (len > 0) {
835	hlpBufferCo = QByteArray(obuffer, len);
836	}
837	}
838	}
839
840	// Orbit and Clock Corrections separately
841	// --------------------------------------
842	else {
843	if (co.NumberOfSat[CLOCKORBIT_SATGPS] > 0) {
844	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
845	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
846	co.UpdateInterval = ephUpdInd;
847	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSORBIT, 1, obuffer,
848	sizeof(obuffer));
849	co.UpdateInterval = clkUpdInd;
850	if (len1 > 0) {
851	hlpBufferCo += QByteArray(obuffer, len1);
852	}
853	}
854	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0 \|\|
855	co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
856	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
857	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
858	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
859	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GPSCLOCK, mmsg, obuffer,
860	sizeof(obuffer));
861	if (len2 > 0) {
862	hlpBufferCo += QByteArray(obuffer, len2);
863	}
864	}
865	if (co.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0) {
866	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
867	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
868	co.UpdateInterval = ephUpdInd;
869	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSORBIT, 1, obuffer,
870	sizeof(obuffer));
871	co.UpdateInterval = clkUpdInd;
872	if (len1 > 0) {
873	hlpBufferCo += QByteArray(obuffer, len1);
874	}
875	}
876	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0 \|\|
877	co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
878	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
879	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
880	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GLONASSCLOCK, mmsg, obuffer,
881	sizeof(obuffer));
882	if (len2 > 0) {
883	hlpBufferCo += QByteArray(obuffer, len2);
884	}
885	}
886	if (co.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0) {
887	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
888	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
889	co.UpdateInterval = ephUpdInd;
890	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOORBIT, 1, obuffer,
891	sizeof(obuffer));
892	co.UpdateInterval = clkUpdInd;
893	if (len1 > 0) {
894	hlpBufferCo += QByteArray(obuffer, len1);
895	}
896	}
897	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0 \|\|
898	co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
899	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
900	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_GALILEOCLOCK, mmsg, obuffer,
901	sizeof(obuffer));
902	if (len2 > 0) {
903	hlpBufferCo += QByteArray(obuffer, len2);
904	}
905	}
906	if (co.NumberOfSat[CLOCKORBIT_SATQZSS] > 0) {
907	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
908	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
909	co.UpdateInterval = ephUpdInd;
910	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSORBIT, 1, obuffer,
911	sizeof(obuffer));
912	co.UpdateInterval = clkUpdInd;
913	if (len1 > 0) {
914	hlpBufferCo += QByteArray(obuffer, len1);
915	}
916	}
917	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0 \|\|
918	co.NumberOfSat[CLOCKORBIT_SATBDS] > 0 ) ? 1 : 0;
919	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_QZSSCLOCK, mmsg, obuffer,
920	sizeof(obuffer));
921	if (len2 > 0) {
922	hlpBufferCo += QByteArray(obuffer, len2);
923	}
924	}
925	if (co.NumberOfSat[CLOCKORBIT_SATSBAS] > 0) {
926	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
927	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
928	co.UpdateInterval = ephUpdInd;
929	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASORBIT, 1, obuffer,
930	sizeof(obuffer));
931	co.UpdateInterval = clkUpdInd;
932	if (len1 > 0) {
933	hlpBufferCo += QByteArray(obuffer, len1);
934	}
935	}
936	int mmsg = (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) ? 1 : 0;
937	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_SBASCLOCK, mmsg, obuffer,
938	sizeof(obuffer));
939	if (len2 > 0) {
940	hlpBufferCo += QByteArray(obuffer, len2);
941	}
942	}
943	if (co.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
944	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
945	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
946	co.UpdateInterval = ephUpdInd;
947	int len1 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSORBIT, 1, obuffer,
948	sizeof(obuffer));
949	co.UpdateInterval = clkUpdInd;
950	if (len1 > 0) {
951	hlpBufferCo += QByteArray(obuffer, len1);
952	}
953	}
954	int mmsg = 0;
955	int len2 = _ssrCorr->MakeClockOrbit(&co, _ssrCorr->COTYPE_BDSCLOCK, mmsg, obuffer,
956	sizeof(obuffer));
957	if (len2 > 0) {
958	hlpBufferCo += QByteArray(obuffer, len2);
959	}
960	}
961	}
962
963	// Code Biases
964	// -----------
965	QByteArray hlpBufferBias;
966	if (bias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
967	\|\| bias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
968	\|\| bias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
969	\|\| bias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
970	\|\| bias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
971	\|\| bias.NumberOfSat[CLOCKORBIT_SATBDS] > 0) {
972	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
973	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
974	int len = _ssrCorr->MakeCodeBias(&bias, _ssrCorr->CBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
975	if (len > 0) {
976	hlpBufferBias = QByteArray(obuffer, len);
977	}
978	}
979	}
980
981	// Phase Biases
982	// ------------
983	QByteArray hlpBufferPhaseBias;
984	if ((phasebias.NumberOfSat[CLOCKORBIT_SATGPS] > 0
985	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGLONASS] > 0
986	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATGALILEO] > 0
987	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATQZSS] > 0
988	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATSBAS] > 0
989	\|\| phasebias.NumberOfSat[CLOCKORBIT_SATBDS] > 0)
990	&& (_phaseBiasInformationDecoded)) {
991	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
992	if (fmod(epoTime.gpssec(), _samplRtcmEphCorr) == 0.0) {
993	int len = _ssrCorr->MakePhaseBias(&phasebias, _ssrCorr->PBTYPE_AUTO, 0, obuffer, sizeof(obuffer));
994	if (len > 0) {
995	hlpBufferPhaseBias = QByteArray(obuffer, len);
996	}
997	}
998	}
999
1000	// VTEC
1001	// ----
1002	QByteArray hlpBufferVtec;
1003	if (vtec.NumLayers > 0) {
1004	char obuffer[CLOCKORBIT_BUFFERSIZE] = {0};
1005	int len = _ssrCorr->MakeVTEC(&vtec, 0, obuffer, sizeof(obuffer));
1006	if (len > 0) {
1007	hlpBufferVtec = QByteArray(obuffer, len);
1008	}
1009	}
1010
1011	_outBuffer += hlpBufferCo + hlpBufferBias + hlpBufferPhaseBias
1012	+ hlpBufferVtec + '\0';
1013	}
1014
1015	//
1016	////////////////////////////////////////////////////////////////////////////
1017	t_irc bncRtnetUploadCaster::processSatellite(const t_eph* eph, int GPSweek,
1018	double GPSweeks, const QString& prn, const ColumnVector& rtnAPC,
1019	double rtnUra, const ColumnVector& rtnClk, const ColumnVector& rtnVel,
1020	const ColumnVector& rtnCoM, const ColumnVector& rtnClkSig,
1021	struct SsrCorr::ClockOrbit::SatData* sd, QString& outLine) {
1022
1023	// Broadcast Position and Velocity
1024	// -------------------------------
1025	ColumnVector xB(6);
1026	ColumnVector vB(3);
1027	t_irc irc = eph->getCrd(bncTime(GPSweek, GPSweeks), xB, vB, false);
1028
1029	if (irc != success) {
1030	return irc;
1031	}
1032
1033	// Precise Position
1034	// ----------------
1035	ColumnVector xP = _CoM ? rtnCoM : rtnAPC;
1036
1037	if (xP.size() == 0) {
1038	return failure;
1039	}
1040
1041	double dc = 0.0;
1042	if (_crdTrafo != "IGS14") {
1043	crdTrafo(GPSweek, xP, dc);
1044	}
1045
1046	// Difference in xyz
1047	// -----------------
1048	ColumnVector dx = xB.Rows(1, 3) - xP;
1049	ColumnVector dv = vB - rtnVel;
1050
1051	// Difference in RSW
1052	// -----------------
1053	ColumnVector rsw(3);
1054	XYZ_to_RSW(xB.Rows(1, 3), vB, dx, rsw);
1055
1056	ColumnVector dotRsw(3);
1057	XYZ_to_RSW(xB.Rows(1, 3), vB, dv, dotRsw);
1058
1059	// Clock Correction
1060	// ----------------
1061	double dClkA0 = rtnClk(1) - (xB(4) - dc) * t_CST::c;
1062	double dClkA1 = 0.0;
1063	if (rtnClk(2)) {
1064	dClkA1 = rtnClk(2) - xB(5) * t_CST::c;
1065	}
1066	double dClkA2 = 0.0;
1067	if (rtnClk(3)) {
1068	dClkA2 = rtnClk(3) - xB(6) * t_CST::c;
1069	}
1070
1071	if (sd) {
1072	sd->ID = prn.mid(1).toInt();
1073	sd->IOD = eph->IOD();
1074	sd->Clock.DeltaA0 = dClkA0;
1075	sd->Clock.DeltaA1 = dClkA1;
1076	sd->Clock.DeltaA2 = dClkA2;
1077	sd->UserRangeAccuracy = rtnUra;
1078	sd->Orbit.DeltaRadial = rsw(1);
1079	sd->Orbit.DeltaAlongTrack = rsw(2);
1080	sd->Orbit.DeltaCrossTrack = rsw(3);
1081	sd->Orbit.DotDeltaRadial = dotRsw(1);
1082	sd->Orbit.DotDeltaAlongTrack = dotRsw(2);
1083	sd->Orbit.DotDeltaCrossTrack = dotRsw(3);
1084
1085	if (corrIsOutOfRange(sd)) {
1086	return failure;
1087	}
1088	}
1089
1090	outLine = QString().asprintf("%d %.1f %s %u %10.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", GPSweek,
1091	GPSweeks, eph->prn().toString().c_str(), eph->IOD(), dClkA0, dClkA1, dClkA2,
1092	rsw(1), rsw(2), rsw(3)); //fprintf(stderr, "%s\n", outLine.toStdString().c_str());
1093
1094	// RTNET full clock for RINEX and SP3 file
1095	// ---------------------------------------
1096	double relativity = -2.0 * DotProduct(xP, rtnVel) / t_CST::c;
1097	double clkRnx = (rtnClk[0] - relativity) / t_CST::c; // [s]
1098	double clkRnxRate = rtnClk[1] / t_CST::c; // [s/s = -]
1099	double clkRnxAcc = rtnClk[2] / t_CST::c; // [s/s² ) -/s]
1100
1101	if (_rnx) {
1102	double clkRnxSig, clkRnxRateSig, clkRnxAccSig;
1103	int s = rtnClkSig.size();
1104	switch (s) {
1105	case 1:
1106	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1107	clkRnxRateSig = 0.0; // [s/s = -]
1108	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1109	break;
1110	case 2:
1111	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1112	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1113	clkRnxAccSig = 0.0; // [s/s² ) -/s]
1114	break;
1115	case 3:
1116	clkRnxSig = rtnClkSig[0] / t_CST::c; // [s]
1117	clkRnxRateSig = rtnClkSig[1] / t_CST::c; // [s/s = -]
1118	clkRnxAccSig = rtnClkSig[2] / t_CST::c; // [s/s² ) -/s]
1119	break;
1120	}
1121	_rnx->write(GPSweek, GPSweeks, prn, clkRnx, clkRnxRate, clkRnxAcc,
1122	clkRnxSig, clkRnxRateSig, clkRnxAccSig);
1123	}
1124	if (_sp3) {
1125	_sp3->write(GPSweek, GPSweeks, prn, rtnCoM, clkRnx, rtnVel, clkRnxRate);
1126	}
1127	return success;
1128	}
1129
1130	// Transform Coordinates
1131	////////////////////////////////////////////////////////////////////////////
1132	void bncRtnetUploadCaster::crdTrafo(int GPSWeek, ColumnVector& xyz,
1133	double& dc) {
1134
1135	// Current epoch minus 2000.0 in years
1136	// ------------------------------------
1137	double dt = (GPSWeek - (1042.0 + 6.0 / 7.0)) / 365.2422 * 7.0 + 2000.0 - _t0;
1138
1139	ColumnVector dx(3);
1140
1141	dx(1) = _dx + dt * _dxr;
1142	dx(2) = _dy + dt * _dyr;
1143	dx(3) = _dz + dt * _dzr;
1144
1145	static const double arcSec = 180.0 * 3600.0 / M_PI;
1146
1147	double ox = (_ox + dt * _oxr) / arcSec;
1148	double oy = (_oy + dt * _oyr) / arcSec;
1149	double oz = (_oz + dt * _ozr) / arcSec;
1150
1151	double sc = 1.0 + _sc * 1e-9 + dt * _scr * 1e-9;
1152
1153	// Specify approximate center of area
1154	// ----------------------------------
1155	ColumnVector meanSta(3);
1156
1157	if (_crdTrafo == "ETRF2000") {
1158	meanSta(1) = 3661090.0;
1159	meanSta(2) = 845230.0;
1160	meanSta(3) = 5136850.0;
1161	}
1162	else if (_crdTrafo == "GDA2020") {
1163	meanSta(1) = -4052050.0;
1164	meanSta(2) = 4212840.0;
1165	meanSta(3) = -2545110.0;
1166	}
1167	else if (_crdTrafo == "SIRGAS2000") {
1168	meanSta(1) = 3740860.0;
1169	meanSta(2) = -4964290.0;
1170	meanSta(3) = -1425420.0;
1171	}
1172	else if (_crdTrafo == "DREF91") {
1173	meanSta(1) = 3959579.0;
1174	meanSta(2) = 721719.0;
1175	meanSta(3) = 4931539.0;
1176	}
1177	else if (_crdTrafo == "Custom") {
1178	meanSta(1) = 0.0; // TODO
1179	meanSta(2) = 0.0; // TODO
1180	meanSta(3) = 0.0; // TODO
1181	}
1182
1183	// Clock correction proportional to topocentric distance to satellites
1184	// -------------------------------------------------------------------
1185	double rho = (xyz - meanSta).NormFrobenius();
1186	dc = rho * (sc - 1.0) / sc / t_CST::c;
1187
1188	Matrix rMat(3, 3);
1189	rMat(1, 1) = 1.0;
1190	rMat(1, 2) = -oz;
1191	rMat(1, 3) = oy;
1192	rMat(2, 1) = oz;
1193	rMat(2, 2) = 1.0;
1194	rMat(2, 3) = -ox;
1195	rMat(3, 1) = -oy;
1196	rMat(3, 2) = ox;
1197	rMat(3, 3) = 1.0;
1198
1199	xyz = sc * rMat * xyz + dx;
1200	}
1201
1202	int bncRtnetUploadCaster::determineUpdateInd(double samplingRate) {
1203
1204	if (samplingRate == 10.0) {
1205	return 3;
1206	}
1207	else if (samplingRate == 15.0) {
1208	return 4;
1209	}
1210	else if (samplingRate == 30.0) {
1211	return 5;
1212	}
1213	else if (samplingRate == 60.0) {
1214	return 6;
1215	}
1216	else if (samplingRate == 120.0) {
1217	return 7;
1218	}
1219	else if (samplingRate == 240.0) {
1220	return 8;
1221	}
1222	else if (samplingRate == 300.0) {
1223	return 9;
1224	}
1225	else if (samplingRate == 600.0) {
1226	return 10;
1227	}
1228	else if (samplingRate == 900.0) {
1229	return 11;
1230	}
1231	else if (samplingRate == 1800.0) {
1232	return 12;
1233	}
1234	else if (samplingRate == 3600.0) {
1235	return 13;
1236	}
1237	else if (samplingRate == 7200.0) {
1238	return 14;
1239	}
1240	else if (samplingRate == 10800.0) {
1241	return 15;
1242	}
1243	return 2; // default
1244	}
1245
1246	bool bncRtnetUploadCaster::corrIsOutOfRange(struct SsrCorr::ClockOrbit::SatData* sd) {
1247
1248	if (fabs(sd->Clock.DeltaA0) > 209.7151) {return true;}
1249	if (fabs(sd->Clock.DeltaA1) > 1.048575) {return true;}
1250	if (fabs(sd->Clock.DeltaA2) > 1.34217726) {return true;}
1251
1252	if (fabs(sd->Orbit.DeltaRadial) > 209.7151) {return true;}
1253	if (fabs(sd->Orbit.DeltaAlongTrack) > 209.7148) {return true;}
1254	if (fabs(sd->Orbit.DeltaCrossTrack) > 209.7148) {return true;}
1255
1256	if (fabs(sd->Orbit.DotDeltaRadial) > 1.048575) {return true;}
1257	if (fabs(sd->Orbit.DotDeltaAlongTrack) > 1.048572) {return true;}
1258	if (fabs(sd->Orbit.DotDeltaCrossTrack) > 1.048572) {return true;}
1259	return false;
1260	}

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